Heterogeneous multi-robot system for multiphysical exploration

Abstract

Methods and systems are disclosed herein. A system may include a reconnaissance group comprising a first reconnaissance robot configured to perform reconnaissance for an acquisition area within the region of interest. The system may also include an acquisition group comprising a first acquisition robot configured to perform at least one of deploying, operating, and retrieving acquisition equipment within the acquisition area. The system may further include a central management system comprising a control processor configured to generate reconnaissance instructions for and receive reconnaissance information from the reconnaissance group and generate acquisition instructions for and receive acquisition information from the acquisition group. The system may include a communication system configured to communicate between the central management system and the reconnaissance group and the acquisition group.

Description

HETEROGENEOUS MULTI-ROBOT SYSTEM FOR MULTIPHYSICAL EXPLORATIONBACKGROUND

[0001] Collecting geophysical survey data is valuable for mineral and natural resource exploitation among other uses. Geophysical survey data may be collected using multiple survey modalities. Deployment of equipment is logistically challenging as the amount of equipment and access to survey points may present difficulties due to, for example, topography, lakes / swamps, human infrastructure. There is a pressing need for an automated solution for deploying, servicing, and retrieving multi-physics survey equipment.

[0002] Currently, large manual work forces are used in geophysical data acquisition. The work force, among other activities, may engage in placing a network of geophysical receivers (e.g., -100,000 receivers for seismic data acquisition) over the acquisition area as well as moving and maintaining the geophysical receivers throughout the duration of the survey. Thus, the usage of groups of autonomous robots equipped with abilities to carry out various tasks related to geophysical exploration is an economical and efficient solution that ensures autonomous continuous surveying with minimum human involvement.SUMMARY

[0003] This summary is provided to introduce a selection of concepts that are further described below in the detailed description. This summary is not intended to identify key or essential features of the claimed subject matter, nor is it intended to be used as an aid in limiting the scope of the claimed subject matter.

[0004] In some aspects, the techniques described herein relate to a heterogeneous multi-robot system for conducting a geophysical study of a region of interest, the heterogeneous multi-robot system including a reconnaissance group, an acquisition group, a central management system, and a communication system. The reconnaissance group may include a first reconnaissance robot configured to perform reconnaissance for an acquisition area within the region of interest. The acquisitiongroup may include a first acquisition robot configured to perform at least one of deploying, operating, and retrieving acquisition equipment within the acquisition area. The central management system may include one or more control processors configured to generate reconnaissance instructions for and receive reconnaissance information from the reconnaissance group and generate acquisition instructions for and receive acquisition information from the acquisition group. The communication system configured to communicate between the central management system and the reconnaissance group and the acquisition group.

[0005] In some aspects, the techniques described herein relate to a method of conducting a geophysical study of a region of interest of interest using a heterogeneous multi-robot system including a reconnaissance group having a first reconnaissance robot, an acquisition group having a first acquisition robot, a central management system and a communication system. The method may include obtaining an acquisition plan for the region of interest. The method may also include performing, using the reconnaissance group, reconnaissance for an acquisition area within the region of interest, wherein performing reconnaissance includes obtaining reconnaissance data. The method further may include communicating, using the communication system, the reconnaissance data from the reconnaissance group to the central management system. The method may still further include forming, using the central management system, an updated acquisition plan based, at least in part, on the acquisition plan and the reconnaissance data. The method may include communicating, using the communication system, acquisition instructions based on the updated acquisition plan from the central management system to the acquisition group; and acquiring, using the acquisition group, the geophysical study guided by the acquisition instructions.

[0006] Other aspects and advantages of the claimed subject matter will be apparent from the following description and the appended claims.BRIEF DESCRIPTION OF DRAWINGS

[0007] Specific embodiments of the disclosed technology will now be described in detail with reference to the accompanying figures. Like elements in the various figures are denoted by like reference numerals for consistency.

[0008] FIG. 1A illustrates a heterogeneous multi-robot system for geophysical exploration in accordance with one or more embodiments.

[0009] FIG. IB illustrates a heterogeneous multi-robot system for geophysical exploration in accordance with one or more embodiments.

[0010] FIG. 1C illustrates a heterogeneous multi -robot system for geophysical exploration in accordance with one or more embodiments.

[0011] FIG. 2 illustrates a central management system and a local management system in accordance with one or more embodiments.

[0012] FIG. 3 illustrates a robot in accordance with one or more embodiments.

[0013] FIG. 4 depicts a robot control system in accordance with one or more embodiments.

[0014] FIG. 5 shows a flowchart for a method in accordance with one or more embodiments.

[0015] FIG. 6 depicts a computer in accordance with one or more embodiments.DETAILED DESCRIPTION

[0016] In the following detailed description of embodiments of the disclosure, numerous specific details are set forth in order to provide a more thorough understanding of the disclosure. However, it will be apparent to one of ordinary skill in the art that the disclosure may be practiced without these specific details. In other instances, well-known features have not been described in detail to avoid unnecessarily complicating the description.

[0017] Throughout the application, ordinal numbers (e.g., first, second, third, etc.) may be used as an adjective for an element (i.e., any noun in the application). The use of ordinal numbers is not to imply or create any particular ordering of the elements nor to limit any element to being only a single element unless expressly disclosed, such as using the terms “before,” “after,” “single,” and other such terminology. Rather,the use of ordinal numbers is to distinguish between the elements. By way of an example, a first element is distinct from a second element, and the first element may encompass more than one element and succeed (or precede) the second element in an ordering of elements.

[0018] It is to be understood that the singular forms “a,” “an,” and “the” include plural referents unless the context clearly dictates otherwise. Thus, for example, reference to “a geophysical survey” includes reference to one or more of such geophysical surveys.

[0019] Terms such as “approximately,” “substantially,” etc., mean that the recited characteristic, parameter, or value need not be achieved exactly, but that deviations or variations, including for example, tolerances, measurement error, measurement accuracy limitations and other factors known to those of skill in the art, may occur in amounts that do not preclude the effect the characteristic was intended to provide.

[0020] It is to be understood that one or more of the steps shown in the flowchart may be omitted, repeated, and / or performed in a different order than the order shown. Accordingly, the scope disclosed herein should not be considered limited to the specific arrangement of steps shown in the flowchart.

[0021] Although multiple dependent claims are not introduced, it would be apparent to one of ordinary skill that the subject matter of the dependent claims of one or more embodiments may be combined with other dependent claims.

[0022] In the following description of FIGs. 1-6, any component described with regard to a figure, in various embodiments disclosed herein, may be equivalent to one or more like-named components described with regard to any other figure. For brevity, descriptions of these components will not be repeated with regard to each figure. Thus, each and every embodiment of the components of each figure is incorporated by reference and assumed to be optionally present within every other figure having one or more like-named components. Additionally, in accordance with various embodiments disclosed herein, any description of the components of a figure is to be interpreted as an optional embodiment which may be implemented in addition to, in conjunction with, or in place of the embodiments described with regard to a corresponding like-named component in any other figure.

[0023] Methods and systems are herein disclosed for conducting geophysical exploration of a subterranean region of interest using a heterogeneous multi-robot system. Geophysical data acquisition is frequently burdened by issues of safety exposure, access, and operational inefficiencies that increase cost or preclude continuous geophysical coverage. For example, mountainous areas or solid ground within swamps or river deltas are notoriously hard to reach with data acquisition equipment. Many of these issues can be reduced or resolved by an autonomous delivery and deployment system for acquisition equipment, i.e., autonomous ground vehicles, and / or autonomous aerial vehicles. Embodiments are disclosed describing apparatus, systems, and methodology that may enable safer, more continuous, more efficient, and cost-effective geophysical data acquisition.

[0024] Geophysical data (188) may be processed to produce valuable information, such as one or more geophysical images or one or more geophysical attributes. Typically, a geophysical processing workflow addresses a sequence of steps including noise attenuation, acquisition regularization, multiple identification and attenuation, geophysical wave propagation, geophysical imaging, and geophysical attribute determination. Many of these steps, such as geophysical imaging and geophysical attribute determination, require further interpretation to identify the locations within the subsurface at which geophysical anomalies may present potential natural resource reserves. In some embodiments, the interpretation may occur after the generation of the post-process geophysical image or the geophysical attribute. In other embodiments, the interpretation may be performed in parallel or interleaved or integrated into the process of determining the post-processed geophysical image or the geophysical attribute. Geophysical data (188) may include seismic data, electromagnetic data, gravity data, and magnetic data or combination thereof.

[0025] In an example embodiment, FIGs. 1A-1C show a geophysical study of an acquisition area (182) within a region of interest that utilizes a heterogeneous multirobot system (“HMRS”) (100). The HMRS (100) may obtain a description (194) of the acquisition area (182) such as a survey boundary and / or an acquisition plan (184). The survey boundary may be formed from available maps of the acquisition area (182). The available maps may be physical maps and / or digital map applications. Physical maps may include but are not limited to elevation maps, land cover maps, and landusage maps. The acquisition plan (184) may be formed utilizing a computer, such as the computer described in FIG. 6, and accompanying description.

[0026] In accordance with one or more embodiments, the HMRS (100) may include an acquisition planning system. The acquisition planning system may include a computer system having acquisition planning software. The computer system may be the same or similar to the computer system as described in FIG. 6 and accompanying description. The HMRS (100) may obtain the description (194) of the acquisition area (182) from the acquisition planning system. The acquisition plan (184) may include deployment of acquisition equipment, such as wireless sensors (187) and / or cabled sensors (189). In accordance with one or more embodiments, the acquisition equipment (187, 189) may include, without limitation, one or more geophysical receivers, cable, a signal source, and / or one or more cable hubs.

[0027] The geophysical survey may be carried out using the acquisition plan (184). Some geophysical survey may utilize the signal source (186) to generate geophysical waves, for example, seismic waves or electromagnetic waves, while other geophysical surveys may not require a source, such as magneto-telluric surveys. Signals may be recorded by the one or more geophysical receivers. In some embodiments, a single activation of the signal source (186) may be recorded by tens or hundreds of thousands of geophysical receivers. In one or more embodiments, including a seismic survey acquisition within a land environment, the geophysical receiver may record the velocity or acceleration of ground-motion, while in a marine or lacustrine environment the geophysical receiver may record pressure fluctuations caused by the geophysical waves.

[0028] Continuing with FIGs. 1A-1C, the HMRS (100) in accordance with one or more embodiments includes a reconnaissance group (110) comprising a first reconnaissance robot (115) configured to perform reconnaissance for an acquisition area (182) within the region of interest and an acquisition group (120) comprising a first acquisition robot (125) configured to perform at least one of deploying, operating, and retrieving acquisition equipment (187, 189) within the acquisition area (182). In some embodiments, the HMRS (100) may also include a logistical group (130) comprising a first logistical robot (135) configured to perform logistical support. Reconnaissance may include, but not limited to, any surveying or mapping that isperformed before or during the geophysical data acquisition and may be performed by the reconnaissance group. The first reconnaissance robot (115), the first acquisition robot (125), and the first logistical robot (135) also form a plurality of autonomous robots. Each of the reconnaissance group (110), the acquisition group (120), and the logistical group (130) may be utilized, at least in part, during the geophysical study. Multiple groups may be active at different parts of the study. If the particular group is not active, the autonomous robots may be idle in staging areas such as areas denoted A, B, and C shown in FIGs. 1 to 1C.

[0029] Although references to groups are disclosed herein, in accordance with one or more embodiments, one or more of the reconnaissance group (110), the acquisition group (120), and / or the logistical group (130) may include only one robot. In some embodiments, each of the reconnaissance group (110), the acquisition group (120), and / or the logistical group (130) may include more than one reconnaissance robot, acquisition robot, and logistical robot, respectively. In some embodiments, the reconnaissance group (110) further comprises a second reconnaissance robot configured to perform reconnaissance (195) for the acquisition area (182). In some embodiments, the acquisition group (120) further comprises a second acquisition robot configured to perform at least one of deploying, operating, and retrieving the acquisition equipment (187, 189) within the acquisition area (182). In some embodiments, the second acquisition robot acquires the geophysical study guided by the acquisition instructions.

[0030] The HMRS (10) may include a communication system (145) and a central management system (400) as described in FIG. 2 and accompanying description. The plurality of autonomous robots may be organized into a plurality of groups in order to accomplish mission goals and tasks (480, 481, 482). The communication system (145) is configured to communicate between the central management system (400) and each of the reconnaissance group (110), the acquisition group (120), and the logistical group (130). Transmission of communications and instructions (190), using the communication system (145), may be sent via wireless-fidelity (“wi-fi”), radio, wireless adapter, etc.

[0031] FIG. 2 illustrates the central management system (400) in accordance with one or more embodiments. The central management system (400) may include one or morecontrol processors (405) configured to generate reconnaissance instructions for and receive reconnaissance information from the reconnaissance group, generate acquisition instructions for, and receive acquisition information from, the acquisition group. The control processor may also be configured to generate logistical instructions for and receive logistical information from the logistical group. In accordance with one or more embodiments, the central management system (400) may include a common data storage device (470). The common data storage device (470) is configured to store instructions (190) and the geophysical data (188). The common data storage device (470) may be a computer system (600) that is the same or similar to the computer (602) as described in FIG. 6 and the accompanying description. The common data storage device (470) may be configured to store the geophysical data (188) in geophysical survey specific data formats, for example seismic data may be stored in Society of Exploration Geophysicists ‘Y’ (“SEG-Y”) data format.

[0032] The control processor (405) may include hardware modules, algorithms, and / or methods for executing mission tasks such as acquisition (e.g. , geophysical acquisition) and data management, navigation, task planning, and task management. The control processor (405) distributes tasks between each group of the HMRS according to requirements of the geophysical survey and may send communications such as instructions (190) to carry out tasks. Instructions (190) may include reconnaissance, acquisition, and / or logistical instructions. The control processor (405) may consider mission parameters, environmental obstacles, or features of autonomous robots to generate a path for the autonomous robots without collisions between the autonomous robots and between the autonomous robots and other objects. The control processor (405) may be mobile or stationed at an operably fixed location. The control processor (405) may also consider trajectory of the signal source (186) or control the movement of the signal source (186) by sending instructions (if the signal source (186) is present). In some embodiments, the signal source (186) may be, for example, a seismic signal source that generates acoustic waves such as a dynamite source or one or more seismic vibrator (“vibroseis truck”) in a land environment or an airgun in a marine or lacustrine environment. In other embodiments, the signal source (186) may be an electromagnetic (“EM”) wave signal source such as an EM transmitter coil. The control processor (405)can manage the mission plan such as the acquisition plan (184), receive status of the autonomous robots, and send commands by communication unit(s).

[0033] In accordance with one or more embodiments, the control processor (405) transmits and receives data, using a communication system, between all the systems and components of the reconnaissance group, the acquisition group, and the logistical group, other robots, or any other receiver such as secondary or remote base station (i. e. , a control station (140)), geophysical source vehicle, etc. In some embodiments, the HMRS (100) may also include a control station (140). The control processor (405) may be deployed on the control station (140). The control station (140) may be deployed for the geophysical study to facilitate communication and data transfers between all systems and components of the HMRS (10) when necessary, such as regions or interest with rugous terrain.

[0034] In accordance with one or more embodiments, the central management system (400) may include the control processor (405) configured to control a reconnaissance group management subsystem (410), an acquisition group management subsystem (420), and a logistical group management subsystem (430). The reconnaissance group management subsystem (410) is configured to provide reconnaissance instructions to and receive reconnaissance information from the first reconnaissance robot (115). The control processor (405) may be configured to receive the reconnaissance (195) such as the description (194) of the acquisition area (182) from the first reconnaissance robot (115) forming the reconnaissance group (110). Each of the reconnaissance group management subsystem (410), the acquisition group management subsystem (420), and the logistical group management subsystem (430) is configured to communicate, using the communication system (145), with each of the first reconnaissance robot (115), the first acquisition robot (125), and the first logistical robot (135) within its corresponding group. Each of the reconnaissance group management subsystem (410), the acquisition group management subsystem (420), and the logistical group management subsystem (430) is also configured to access the common data storage device (470).

[0035] In accordance with one or more embodiments, each of the first reconnaissance robot (115), the first acquisition robot (125), and the first logistical robot (135) may include a local management subsystem (460, 461, 462). The local managementsubsystem (460, 461, 462) may be the same or similar to the computer system (600) as described in FIG. 6 and accompanying description.

[0036] In accordance with one or more embodiments, each of the first reconnaissance robot (115), the first acquisition robot (125), and the first logistical robot (135) may include a local processor (302) configured to control the local management subsystem (460, 461, 462) as discussed in reference to FIG. 4. The local management subsystem (460, 461, 462) may be configured to receive reconnaissance instructions from the central management system (405), execute the received instructions to control actions of each of the first reconnaissance robot (115), the first acquisition robot (125), and the first logistical robot (135). The local management subsystem (460, 461, 462) may also be configured to monitor performed actions and health status of each of the first reconnaissance robot (115), the first acquisition robot (125), and the first logistical robot (135), and report completed actions and health status to the central management system (400).

[0037] In accordance with one or more embodiments, the reconnaissance group (110) may be utilized to perform reconnaissance of and form a reconnaissance (195) of the acquisition area (182). The reconnaissance (195) of the acquisition area (182) may include maps generated from one or more reconnaissance sensors, such as infrared sensors, ultraviolet sensors, radio frequency (RF) sensors, visible-range cameras, distance sensors, light detection and ranging (“lidar”) devices, usage with a global positioning system (“GPS”), or any combination thereof. The generated maps may include elevation maps, hazard maps, vegetation maps, wildlife habitat maps, waterbody maps and the like. The reconnaissance (195) of the acquisition area (182) may also include positions of potential obstacles such as relatively large boulders, waterways, steep topography, and the like without limit. Steep topography may include cliffs, canyons, gullies, and the like without limit. Other potential obstacles may include artificial structures such as buildings, bridges, and the like without limit.

[0038] The first reconnaissance robot (115) may have one or more reconnaissance sensors configured to perform reconnaissance of the acquisition area (182). The first reconnaissance robot (115) may be an unmanned aerial vehicle (“UAV”), such as a fixed-wing (170), a multicopter, a single-rotor, or a hybrid vertical take-off and landing(“VTOL”) UAV, an autonomous ground vehicle (“UGV”) such as a rover (172), a legged robot (176), a crawler robot, and / or an amphibious robot UGV, and the like, configured to fly and perform reconnaissance of the acquisition area (182). The reconnaissance group (110) may also perform security functions such as perform reconnaissance of the acquisition area (182) for vandalism, or for animal control, and the like during operations of the geophysical survey. While the figure may show only one, the invention may employ any number of reconnaissance robots (115) configured to perform reconnaissance.

[0039] In accordance with one or more embodiments, the first reconnaissance robot (115) is configured to perform reconnaissance of the acquisition area (182), wherein the first reconnaissance robot (115) comprises the local management subsystem (460) configured to communicate with the reconnaissance group management subsystem (410) as shown in FIG. 1A. In some embodiments, reconnaissance instructions sent to the first reconnaissance robot (115) may be to utilize peripheral devices to perform reconnaissance and obtain the description (194) of the acquisition area (182). The reconnaissance group management subsystem (410) is configured to, using the central management system (405), communicate with the first reconnaissance robot (115) to obtain the description (194) of the acquisition area (182) and to send reconnaissance instructions to perform reconnaissance of the acquisition area (182). In other embodiments, reconnaissance instructions sent to the first reconnaissance robot (115) may include providing security and surveillance of the acquisition equipment (187, 189) that is deployed. As there are many possible tasks (480) listed here for the first reconnaissance robot (115), it will be apparent to one of ordinary skill in the art that any task pertaining to performing reconnaissance of the acquisition area (182) may be considered and the listed tasks should not be considered limiting.

[0040] In accordance with one of more embodiments, the acquisition group management subsystem (420) is configured to provide acquisition instructions to and receive acquisition data from the first acquisition robot (125). The acquisition group management subsystem (420) is also configured to communicate with the first acquisition robot (125), acquisition instruction to retrieve the acquisition equipment (187, 189) at a completion of the geophysical survey acquisition.

[0041] In accordance with one or more embodiments, the acquisition group (120) may be utilized to acquire geophysical data (188) by deploying and retrieving acquisition equipment (187, 189) such as the one or more geophysical receivers and cables as shown in FIG. IB. The first acquisition robot (125) may be an unmanned aerial vehicle ("UAV”), an autonomous ground vehicle (“UGV”) such as the rover (172), the legged robot (176), a crawler robot, and / or an amphibious robot UGV, and the like, configured to traverse land. In other embodiments such as for geophysical surveys in marine and lacustrine settings, the first acquisition robot (125) may be an unmanned marine vehicle (“UMV”) such as an autonomous underwater vehicle (“AUV”), a remotely operated vehicle (“ROV”), a glider, an unmanned surface vehicle (“ASV”), and the like, configured to travel in a water-based setting such as oceans and lakes. While the figure may show only one, the invention may employ any number of acquisition robots (125) configured to acquire geophysical data (188).

[0042] In accordance with one or more embodiments, the first acquisition robot ( 125) is configured to deploy acquisition equipment (187, 189) within the acquisition area (182), and to retrieve the acquisition equipment (187, 189) after the acquisition of geophysical data (188), wherein each of the first acquisition robot (125) comprises the local management subsystem (461) configured to communicate with the acquisition group management subsystem (420). In some embodiments, acquisition instructions sent to the first acquisition robot (125) may include deploying and / or retrieving the one or more geophysical receivers and cable. In other embodiments, acquisition instructions sent to the first acquisition robot (125) may be to move the one or more geophysical receivers and cable to alternate locations for continued surveying and recording. As there are many possible tasks (481) listed here for the first acquisition robot (125), it will be apparent to one of ordinary skill in the art that any task pertaining to acquiring geophysical data (188) may be considered and the listed tasks should not be considered limiting. The acquisition group management subsystem (420) is configured to, using the central management system (405), communicate with the first acquisition robots (125), acquisition instructions based on an acquisition plan to deploy, operate, and retrieve the acquisition equipment (187, 189).

[0043] In accordance with one or more embodiments, the logistical group management subsystem (430) is configured to provide logistical instructions to and receive logisticalinformation from the first logistical robot. Logistical instructions may include instructions for performing maintenance operations (196). Maintenance operations may include, without limitation, replacing batteries such as depleted batteries or faulty batteries, repairing one of the plurality of autonomous robots, delivering the spare robot (137) to replace one of the plurality of autonomous robots, and / or removing one of the plurality of autonomous robots from the acquisition area (182).

[0044] In accordance with one or more embodiments, the logistical group (130) may be utilized to perform logistical functions such as maintenance operations (196) for the plurality of autonomous robots and acquisition equipment (187, 189). The maintenance operations ( 196) for the plurality of autonomous robots may include replacing batteries, swapping spare robots (137) for faulty robots, and the like. The maintenance operations (196) for acquisition equipment (187, 189) such as the one or more geophysical receivers and cables may include replacing batteries, swapping spare geophysical receivers for faulty geophysical receivers, and the like. The first logistical robot (135) may be the UGV such as the rover (172), the legged robot (176), the crawler robot, and / or the amphibious robot UGV, and the like, configured to traverse land. In other embodiments, the first logistical robot (135) may be the UMV such as the AUV, the ROV, the glider, the ASV, and the like, configured to travel in the water-based setting such as oceans and lakes. While the figure may show only one, embodiments disclosed herein may employ any number of logistical robots (135) configured to perform logistical functions.

[0045] In accordance with one or more embodiments, the first logistical robot (135) is configured to perform logistical support, wherein each of the first logistical robot (135) comprises the local management subsystem (462) configured to communicate with the logistical group management subsystem (430). In some embodiments, logistical instructions sent to the first logistical robot (135) may include replacing batteries such as faulty and / or depleted batteries. In other embodiments, logistical instructions sent may include replacing the one or more geophysical receivers and cable such as faulty geophysical receivers. As there are many possible tasks (482) listed here for the first logistical robot (135), it will be apparent to one of ordinary skill in the art that any task pertaining to logistical functions may be considered and the listed tasks should not be considered limiting. The logistical group management subsystem (430) is configuredto, using the central management system (405), communicate with the first logistical robot (135) logistical instructions to perform maintenance operations (196).

[0046] As various classes and types of robots have been disclosed for each functional group, it will be apparent to one of ordinary skill in the art that the various robots disclosed may be used in one or more functional groups and any list of robots in functional groups should not be limiting.

[0047] The central management system (400) is configured to communicate with the reconnaissance group management subsystem (410), the acquisition group management subsystem (420), and logistical group management subsystem (430), and coordinate execution of the geophysical survey acquisition. The central management system (400) may utilize the communication system (145) to communicate with the reconnaissance group management subsystem (410), the acquisition group management subsystem (420), and logistical group management subsystem (430) to coordinate execution of the geophysical survey acquisition.

[0048] In accordance with one or more embodiments, the control station (140) may not be needed and the central management system (400) may be distributed among one or more control processors deployed on the first acquisition robot (125) and the first reconnaissance robot (115) involved in the geophysical study using the local management subsystem (460, 461, 462) of the first acquisition robot (125) and the first reconnaissance robot (115). The algorithms, and / or methods for executing mission tasks such as acquisition (e.g., geophysical acquisition, reconnaissance) and data management, navigation, task planning, and task management can be uploaded on the first acquisition robot (125) and the first reconnaissance robot (115) in advance. Each of the first acquisition robot (125) and the first reconnaissance robot (115) will exchange information with each other using its local management subsystem (460, 461, 462). In this case, the central management system (400) may be distributed among the local processors (302) of the first acquisition robot (125) and the first reconnaissance robot (115) themselves.

[0049] Each of the first reconnaissance robot (115), the first acquisition robot (125), and the first logistical robot (135) of the HMRS (100) may be configured to, using the local management subsystem (460, 461, 462); receive instructions (190) from thecontrol processor (405); execute the received instructions (190) to control actions of each of the first reconnaissance robot (115), the first acquisition robot (125), and the first logistical robot (135); monitor performed actions and health status of each of the first reconnaissance robot (115), the first acquisition robot (125), and the first logistical robot (135), and report completed actions and health status to the central management system (400). Health status updates may include battery consumption, malfunctioning systems, mechanical issues with the first reconnaissance robot (115), the first acquisition robot ( 25), and the first logistical robot (135), and the like.

[0050] In accordance with one or more embodiments, the control processor (405) may be configured to deploy one or more of the reconnaissance group (110), the acquisition group (120), and / or the logistical group (130) of the HMRS (100) to acquire a multiphysical survey, such as gravity, magnetics, electromagnetics, electrical, seismic, and combination of two or more thereof. The multiphysical survey may be performed in the following example embodiment, but not limited to this: gravity and magnetic data acquisition by deploying the first acquisition robot (125) including acquisition equipment (187, 189) such as a gravimeter and magnetometer; an electromagnetic (EM) survey deploying the first acquisition robot (125) including acquisition equipment (187, 189) such as an EM source and loop and a three-component EM receiver; and a seismic acquisition survey deploying the first acquisition robot (125) including acquisition equipment (187, 189) such as a seismic vibrator and at least one three- component seismic receiver. Each survey may be deployed simultaneously or at staggered start times wherein the duration of each survey may, at least partially, overlap.

[0051] FIG. 3 is an example embodiment of one of the plurality of autonomous robots (200) which may be utilized in geophysical data acquisition activities such as geophysical data recording or reconnaissance (195) of the acquisition area (182). Each of the first reconnaissance robot (115), the first acquisition robot (125), and the first logistical robot (135) comprises a robot body (202), a propulsion system (210), and a robot control system (300).

[0052] To carry out the functions of the geophysical study, one of the first reconnaissance robot (115), the first acquisition robot (125), and the first logistical robot (135) may have the capacity to receive instructions (190), perform maintenanceoperations (196), navigate to a target location, position at a target location, perform surveillance, assess reaching target position and / or a target location’s suitability for landing (if at least one UAV is involved in mission) and deploying the one or more geophysical receivers, land on the surface (if at least one UAV is involved in mission), deploy and retrieve the one or more geophysical receivers, and transmit and receive data.

[0053] In accordance with one or more embodiments, the one or more geophysical receivers may be deployed and / or retrieved simultaneously with one of the first reconnaissance robot (115), the first acquisition robot (125), and the first logistical robot (135). The one or more geophysical receivers may be integrated with one of the first reconnaissance robot (115), the first acquisition robot (125), and the first logistical robot (135). For example, a magnetometer may be suspended from the first reconnaissance robot (135). The magnetometer is configured to acquire magnetic data. The first reconnaissance robot (135) may include data memory for storing the geophysical data (188), and / or may be configured to send the geophysical data (188) using the communication system (145).

[0054] In accordance with one or more embodiments, the robot body (202) may have any shape (e.g., polygonal, spherical, etc.) with protruding elements (e.g., beams) for mounting components such as motors. One of the first reconnaissance robot (115), the first acquisition robot (125), and the first logistical robot (135) may be manufactured using different materials (e.g. , plastic, carbon, composite, metal, etc. or combination of these materials) with the purpose of protecting one of the first reconnaissance robot (115), the first acquisition robot (125), and the first logistical robot (135) from the environment.

[0055] In accordance with one or more embodiments, one of the first reconnaissance robot (115), the first acquisition robot (125), and the first logistical robot (135) may include a geophysical receiver deployment system (204) wherein each of the first reconnaissance robot (115), the first acquisition robot (125), and the first logistical robot (135) of the HMRS (100) may carry the one or more geophysical receivers embedded or detachably connected to the robot body (202) to the target location and after reaching target position couple the geophysical receiver to a surface (250) such as a ground surface. In some embodiments, one of the first reconnaissance robot(115), the first acquisition robot (125), and the first logistical robot (135) may further comprise one or more actuators configured to deploy and retrieve the geophysical equipment. In some embodiments, the actuator may be selectively actuatable to perform at least one of deploying, operating, and retrieving the acquisition equipment (187, 189) within the acquisition area (182). Each geophysical receiver may be coupled to the ground using a threaded spike and detached from the geophysical receiver deployment system (204) by one or more actuators (204b) configured to deploy and retrieve the acquisition equipment (187, 189). The one or more actuators (204b) may include a passive mechanical joint with one or more springs and / or one or more rotation and / or translation degrees of freedom or a detachable mechanical joint such as a screw that can be threaded and unthreaded. In other embodiments the geophysical receiver may be coupled to the ground by other means such as a weighted base plate or by the weight of one of the plurality of autonomous robots (200) which may contain a separate mechanism (e.g., spring or rubber membrane) in the one or more actuators (204b) to effectively detach one of the plurality of autonomous robots (200) from the geophysical receiver. In some other embodiments, the one or more actuators may include a robotic arm (174). The robotic arm (174) may include one or more mechanized joints with one or more springs and / or one or more rotation and / or translation degrees of freedom or a detachable mechanical joint such as a bolt that can be threaded and unthreaded. The robotic arm (174) may further include actuating devices (e.g., servomotor, pneumatic device, etc.) configured to provide movement of the robotic arm (174) to deploy and retrieve the acquisition equipment (187, 189). In some embodiments, one of the first reconnaissance robot (115), the first acquisition robot (125), and the first logistical robot (135) may comprise the rover, wherein the rover may include at least one actuator and the actuator may include a robotic arm (174) configured to deploy and / or retrieve the acquisition equipment (187, 189).

[0056] The geophysical receiver deployment system (204) may include actuating devices (204c) (e.g., servomotor, pneumatic device, etc.), and one or more feedback sensors (204d) (e.g., inertial, optical, and / or resistive sensor) that may enable the geophysical receiver deployment system (204) (e.g., linkage can contain springs, dampers, multi-link mechanism, etc., or combination of these elements) to manipulate(e.g., push, pull, turn) the geophysical receiver and receive data (e.g., up-force, downforce, torque, verticality, etc.) regarding the geophysical receiver deployment.

[0057] The propulsion system (210) is configured to provide movement for one of the first reconnaissance robot (115), the first acquisition robot (125), and the first logistical robot (135). In accordance with one or more embodiments, the propulsion system ( 10) may include one or more motors with propellers that may enable one of the first reconnaissance robot (115), the first acquisition robot (125), and the first logistical robot (135) to take off, fly, hover, and land. In other embodiments, the propulsion system (210) may include one or more motors with axels and wheels or tracs that may enable one of the first reconnaissance robot (115), the first acquisition robot (125), and the first logistical robot (135) to traverse land. In other embodiments, the propulsion system (210) may include one or more robotic members (208a-e) configured to traverse land. In other embodiments, the propulsion system (210) may include one or more motors with propellers or jets that enable one of the first reconnaissance robot (115), the first acquisition robot (125), and the first logistical robot (135) to be propelled through water either at the surface (250) or underwater. Each motor may be operatively connected to a propulsion system controller (206) that is configured to control operation of the motor.

[0058] In accordance with one or more embodiments, the one or more robotic members (208a-e) may allow one of the first reconnaissance robot (115), the first acquisition robot (125), and the first logistical robot (135) to land on the surface (250) if configured to take off, fly, hover, and land. In other embodiments, the one or more robotic members (208a-e) may be used to traverse land. Additionally, the robotic member (208a-e) may enable one of the first reconnaissance robot (115), the first acquisition robot (125), and the first logistical robot (135) to change an angle or orientation between the robot body (202) and the surface (250) to adapt to the shape of the surface (250). Adaptive robot landing and traversing may also prevent a possible crash of one of the first reconnaissance robot (115), the first acquisition robot (125), and the first logistical robot (135) during the landing or traversing procedure on uneven surfaces (250).

[0059] The robotic member (208a-e) may include a member base (208a) connected to one or more member elements (208b) through an adjustable joint (208c) that mayinclude servomotors or passive rotational adjustable joints (208c) and embedded sensors (208d) such as inertial, optical, or resistive sensors that enable and track member movement.

[0060] In another embodiment, the robotic member (208a-e) may be directly mechanically connected to the robot body (202). Additionally, the robotic member (208a-e) may contain dampers (208e) (e.g., rubber, springs, or pneumatic devices) to damp the possible vibration of one of the plurality of autonomous robots (200).

[0061] In accordance with one or more embodiments, the one or more member elements (208b) may extend from the member base (208a) of one of the plurality of autonomous robots (200) at an angle of extension with respect to the vertical. In other embodiments of the robotic member (208a-e), the one or more member elements (208b) may include additional member joints and devices to add additional functionality such as providing accelerated takeoff or providing jumping or walking ability once landed.

[0062] FIG. 4 depicts the robot control system (300) in accordance with one or more embodiments. The robot control system (300) may include the local processor (e.g., microprocessor) (302), autopilot, and controllers for peripheral devices (e.g., reconnaissance sensors, a data recording system, mechanized payload controller, etc.). The robot control system (300) may require data exchange between the control processor (405) and the plurality of autonomous robots (200) over short and long distances using at least two types of transmitters in accordance with the distance between the control processor (405) and the plurality of autonomous robots (200).

[0063] In accordance with one or more embodiments, the robot control system (300) may include a navigation module (303), a communication module (314), a data storage system (311), a power management subsystem (312), a surveillance system (310), and a diagnostic system (316). The robot control system (300) may include a local processor (302) for controlling mission tasks, self-diagnose, and operating communication units and peripheral devices on one of the plurality of the autonomous robots (200). The peripheral devices may be one or more control sensors or the one or more actuators such as mechanized payload controller(s). The one or more control sensors may include at least an infrared sensor, at least an ultraviolet sensor, at least aradio frequency (RF) sensor, at least a visible-range camera, at least a distance sensor, or a global positioning system (GPS), or any combination thereof. The infrared sensor, ultraviolet sensor, RF sensor, visible-range camera, distance sensor, or GPS may be used by the plurality of autonomous robots (200) or by the control processor (405) to detect and go around obstacles while traveling, for example during the mission plan.

[0064] Continuing with FIG. 4, the navigation module (303) may include a transit controller (304), a propulsion control system (306), and a positioning system (308). The power supply system provides power to the robot control system (300). The navigation module (303) is configured to provide location information and navigation information to the propulsion system (210). The propulsion control system (306) may include the propulsion system controller (206) that is connected to each motor of the propulsion system (210). The navigation module may be in communication with the local management subsystem (460, 461, 462).

[0065] In accordance with one or more embodiments, the local processor (302) transmits and receives data between all the systems and components on one of the first reconnaissance robot (115), the first acquisition robot (125), and the first logistical robot (135) and with the central management system (400), other robots, or any other receiver such as secondary or remote base station (i.e., a control station), geophysical source vehicle, etc. The transit controller (304) is connected to the one or more propulsion system controllers (206) and positioning system (308) (e.g., GPS) and to the local processor (302). The local processor (302) also sends, receives, and processes data to and from the surveillance system (310) to control the propulsion system (210) and the geophysical receiver deployment system (204).

[0066] In accordance with one or more embodiments, the transit controller (304) communicates with the local processor (302) to get high-level commands (e.g., coordinates, starting times, arrival instructions, etc.) in accordance with the mission scenario stored in the memory of the local processor (302). According to these commands, the transit controller (304) manages the operation of the one or more propulsion system controllers (206). The transit controller (304) receives the global coordinates from the positioning system (308) and transmits these data to the local processor (302).

[0067] In accordance with one or more embodiments, the communication module (314) (e.g. , using radio, Wi-Fi, or satellite link) through the local processor (302) may provide remote data / command exchange with the control processor (405). The communication module is also configured to be in communication with the communication system (145) and the local management subsystem (460, 461, 462). These data / command exchanges may include the mission scenario (instructions (190) for one of the first reconnaissance robot (115), the first acquisition robot (125), and the first logistical robot (135) including location information), geophysical data (188), geophysical data processing information, processed geophysical data, robot diagnostics such as battery power, memory storage statistics, travel route statistics, sensor data, data gathered by the surveillance system (310) or any other data a person of ordinary skill in the art may recognize. The communication module (314) may transmit / receive data in real-time or on-demand, e.g., when it is near the control processor (405) or in the vicinity of reliable radio signal.

[0068] In accordance with one or more embodiments, the surveillance system (310) uses one or more surveillance sensors (e.g., a cameras, a stereoscopic camera, a light detection and ranging (“lidar”) device, a radar, and / or an ultrasound transducer) which may be embedded into the robot body (202) to recognize a deployment zone for one of the first reconnaissance robot (115), the first acquisition robot (125), and the first logistical robot (135) to check the possibility of geophysical receiver installation, and the reliable geophysical data recording. The local processor (302) may use computer vision algorithms and processes the data from the surveillance sensors of the surveillance system (310). The local processor (302) then sends necessary commands (e.g., deploy, move to an alternate location within the deployment zone) to the transit controller (304). If the deployment zone is viable for the geophysical receiver installation, the local processor (302) sends necessary commands to the navigation module (303) and the geophysical receiver deployment system (204) following the mission scenario. A viable deployment zone may include one that is reachable by one of the first reconnaissance robot (115), the first acquisition robot (125), and the first logistical robot (135) physically and within range of the communication module (314) as well as having suitable characteristics (e.g., the absence of vegetation, water, and other potential obstacles). The local processor (302) may contain in its memorynecessary algorithms to control the propulsion system (210) for stably arriving on the different uneven surface (250) using the surveillance system (310) and the one or more sensors such as the reconnaissance and surveillance sensors. During the geophysical survey, the one or more geophysical receivers may transmit collected data to the local processor (302), which records these data to the data storage system (311).

[0069] In accordance with one or more embodiments, the power management subsystem (312) is configured to provide power and power status information to the central management system (400). The power management subsystem (312) may provide power to all the systems and devices of one of the first reconnaissance robot (115), the first acquisition robot (125), and the first logistical robot (135). The power supply system may include a power supply board (212a) and a battery (212b). In other embodiments, the power management subsystem (312) may also provide power to the one or more geophysical receivers that may be integrated into the robot body (202) rather than deployed.

[0070] In accordance with one or more embodiments, the data storage system (311) is configured to store acquired data from the one or more geophysical receivers, from reconnaissance sensors, feedback sensors (204d) of the geophysical receiver deployment system (204), the positioning system (308), the surveillance system (310), and the diagnostic system (316) and instructions (190) on tasks.

[0071] In accordance with one or more embodiments, the diagnostic system (316), in some implementation, may receive data from the peripheral sensors to determine positioning and stability while traversing land, water, and / or air. The diagnostic system (316) is also configured to provide battery reserve levels, robot health status such as system status and robot body functionality, statuses of robot systems, and the like without limit.

[0072] Continuing with FIG. 4, the robot control system (300) may also include a geophysical data processing system (317) in accordance with one or more embodiments. The geophysical data processing system (317), in some implementations, may receive data from the geophysical receiver after analogue-to- digital conversion, raw (i.e., without any further processing after analogue-to-digitalconversion), or processed (e.g., with applied recording filters or gains, noise attenuation processing, stacking, or any other process applied). In another implementation some or all the desired processes may occur within the geophysical receiver. The geophysical data processing system (317) may retain and write both raw and processed geophysical data (188) to memory.

[0073] According to one or more embodiments, the central management system (400) may comprise a user interface (455) configured to receive instructions (190) from a user. The user interface (455) may be utilized by a human operator (490) to set input mission parameters for the plurality of autonomous robots, prepare a mission plan (i.e., mission task plan or navigation plan), and manage mission progress. The central management system (400) may generate trajectories for the plurality of autonomous robots without collision of the plurality of autonomous robots with obstacles or one another. For example, the central management system (400) may generate, using the control processor (405), the trajectories for the plurality of autonomous robots without intersection (in three dimensions) for simultaneous transit of the plurality of autonomous robots or with intersections for distributed transit of the plurality of autonomous robots in time. For the scenario of no intersection for simultaneous transit, the plurality of autonomous robots may be coordinated to have different flying altitudes or ground coordinates from one another. The central management system (400) may generate, using the control processor (405), the trajectories and travel patterns of the plurality of autonomous robots based on the mission plan and based on the exploration area. The central management system (400) may group the plurality of autonomous robots into a plurality of groups in various spatial formations, depending on the requirements of the exploration. The central management system (400) may require the plurality of autonomous robots to include a self-diagnostic module, for example the diagnostic system (316), to autonomously check correctness of the entered input parameters for the exploration and to monitor the status of autonomous robots in realtime. The central management system (400) may schedule battery replacements of the autonomous robots with minimal mission downtime. In exceptional cases the central management system (400) can provide the access to control a robot or group of robots by operator in semi-autonomous mode through the special commands contained in software of user interface (455).

[0074] FIG 5. depicts a flowchart, in accordance with one or more embodiments, describing a method of conducting geophysical exploration of a subterranean region of interest using a heterogeneous multi-robot system (hereafter “HMR method”) (500). In accordance with one or more embodiments, transmission of instructions (190) and any communication may be sent via wireless-fidelity (“wi-fi”), radio, wireless adapter, etc. using the communication system (145).

[0075] In step 502, in accordance with one or more embodiments, the HMR method (500) may include obtaining the acquisition plan (184) of the region of interest from at least the description (194) of the acquisition area (182). In some embodiments, the acquisition plan (184) may include using the acquisition planning system. In accordance with one or more embodiments, the description (194) of the acquisition area (182) may be obtained by survey boundary from available maps such as elevation maps, land use maps, and the like. In other embodiments, the description (194) of the acquisition area (182) may be obtained from the reconnaissance (195) from the first reconnaissance robot (115) utilizing reconnaissance sensors such as infrared sensors, visual-image cameras, lidar, and the like. Reconnaissance instructions to perform reconnaissance of the acquisition area (182) further includes reconnaissance instructions to perform security surveillance during the geophysical acquisition. Security functions may include, for example, performing reconnaissance of the area for vandalism, or for animal control, and the like during operations of the geophysical survey.

[0076] In some embodiments, performing reconnaissance may further include determining a location of the first reconnaissance robot (115), moving, using a propulsion system (210) under control of the robot control system (300), the first reconnaissance robot (115) from the location to an updated location, and communicating the updated position to the central management system (400) using the communication module ( 14).

[0077] In step 504, the HMR method (500) may include performing, using the reconnaissance group (110), reconnaissance for an acquisition area (182) within the region of interest, wherein performing reconnaissance comprises obtaining reconnaissance data. The central management system (400) may be used to communicate with the first reconnaissance robot (115) forming a reconnaissancegroup (HO). The description (194) of the acquisition area (182) and reconnaissance instructions may be sent to or received from the first reconnaissance robot (115) using the central management system (400). The description (194) of the acquisition area (182) and reconnaissance instructions may cause the first reconnaissance robot (115) to perform reconnaissance of the acquisition area (182). The first reconnaissance robot (115) receives the reconnaissance instructions, using the local management subsystem (462) from the central management system (400) and executes the received reconnaissance instructions using the robot control system (300). The first reconnaissance robot (115) may report progress of the reconnaissance (195) such as completion of the description (194) of the acquisition area (182), completed actions, and health status to the central management system (400). In accordance with one or more embodiments, the first reconnaissance robot (115) may include at least the fixed-wing (170), the multicopter, the single-rotor, the VTOL UAV, an autonomous ground vehicle (“UGV”) such as a rover (172), a legged robot (1 6), a crawler robot, and / or an amphibious robot UGV that may perform reconnaissance of the acquisition area (182).

[0078] In step 506, the HMR method (500) may include communicating, using the communication system, the reconnaissance data (195) from the reconnaissance group (110) to the central management system (400) . The central management system (400) may be used to receive the reconnaissance (195) from the first reconnaissance robot (115). For example, the first reconnaissance robot (115) may send one or more maps generated from the reconnaissance sensors. The maps may determine, for example, positions of obstacles, positions for placement of the one or more geophysical receivers and cable. If the position for placement is unsuitable, the central management system (400) may determine alternate positions for placement within the deployment zone and communicate any alternative positions to the acquisition group management subsystem (420).

[0079] In step 508, the HMR method (500) may include forming, using the central management system (400), an updated acquisition plan based, at least in part, on the acquisition plan (182) and the reconnaissance data (195). The updated acquisition plan may include updates to locations to place geophysical receivers (189), transit updates to avoid hazards, weather hazard updates, and the like.

[0080] In step 510, the HMR method (500) may include communicating, using the communication system (145), acquisition instructions based on the updated acquisition plan from the central management system (400) to the acquisition group (120). The central management system (400) may be used to communicate with the acquisition group (120). Acquisition instructions may be sent to or received from the acquisition group (120) using the central management system (400) and the communication system (145). The acquisition instructions may be based on the acquisition plan (184). The acquisition instructions may include deploying acquisition equipment (187, 189), and acquire geophysical acquisition data. The acquisition instructions may also include retrieving acquisition equipment (187, 189), relocating acquisition equipment (187, 189), determining suitable positioning of the one or more geophysical receivers and quality of placement, and the like. The acquisition instructions may be sent utilizing the communication system (145). In accordance with one or more embodiments, communicating with the first acquisition robot (125) further comprises updating the acquisition plan (184) based on the received reconnaissance (195). Updates to the acquisition plan (184) may include acquisition instructions to relocate the one or more geophysical receivers due to, for example, obstacles, issues with landowners, and the like. In accordance with one or more embodiments, the first acquisition robot (125) may include at least the UAV, the rover (172), the legged robot (176), the crawler robot, or the amphibious robot UGV that may deploy the acquisition equipment (187, 189). In accordance with one or more embodiments, acquiring the geophysical study may include deploying seismic acquisition equipment (187, 189) and to acquiring seismic acquisition data. In some embodiments, the HMR method may include acquiring magnetic data using the first reconnaissance robot (115) and updating the acquisition plan (182) based on the magnetic data. In other embodiments, the HMR method (500) may apply to seismic, electromagnetic, magnetic, gravity acquisition(s) or a combination thereof.

[0081] In some embodiments, the HMR method (500) may include communicating, using the communication system (145), logistical instructions from the central management system (400) to the logistical group (130) and / or performing, using the logistical group (130), maintenance operations guided by the logistical instructions. The central management system (400) may determine that the logistical instructionsmay include maintenance operations (196) such as replacing batteries, swapping spare geophysical receivers for faulty geophysical receivers, and the like. The central management system (400) may determine the first logistical robot (135) to provide the maintenance operations (196), for example, to the first acquisition robot (125) that have a depleted battery.

[0082] In step 512, the HMR method (500) may include acquiring, using the acquisition group, the geophysical study guided by the acquisition instructions. The HMR method (500) may include communicating with the acquisition group (120), acquisition instructions to deploy and / or retrieve the acquisition equipment (187, 189) dependent on acquisition instructions. In one or more embodiments, the acquisition equipment (187, 189) may be deployed to the deployment zone and / or retrieved from a storage area. In some embodiments, acquiring the geophysical study also includes performing at least one of deploying, operating, and retrieving acquisition equipment within the acquisition area.

[0083] In accordance with one or more embodiments, the local management subsystem (460, 461 , 462) within each of the first reconnaissance robot (115), the first acquisition robot (125), and the first logistical robot (135) may be used to receive instructions (190) from the central management system (400). The local management subsystem may be used to execute the received instructions (190) to control actions of each of the first reconnaissance robot (115), the first acquisition robot (125), and the first logistical robot (135). For example, the actions of the first reconnaissance robot (115) may include transversing the acquisition area (182) for reconnaissance. The actions of the first acquisition robot (125) may include deploying acquisition equipment (187, 189) such as the one or more geophysical receivers. The actions of the first logistical robot (135) may include swapping one spare robot for one faulty robot. In accordance with one or more embodiments, the HMR method (500) may also include monitoring performed actions and health status of each of the first reconnaissance robot (115) of the reconnaissance group (110), the first acquisition robot (125) of the acquisition group (120), and the first logistical robot (135) of the logistical group (130). In accordance with one or more embodiments, the HMR method (500) may also include reporting completed actions and health status to the central management system (400), for example, reporting battery reserve levels.

[0084] In step 514, the HMR method (500) includes communicating, using the central management system (400), with the reconnaissance group management subsystem (410) of the reconnaissance group (110), the acquisition group management subsystem (420) of the acquisition group (120), and the logistical group management subsystem (430) of the logistical group (130) to coordinate execution of the multiphysical survey acquisition. Each of the reconnaissance group management subsystem (410), the acquisition group management subsystem (420), and the logistical group management subsystem (430) communicates with the reconnaissance group (110), the acquisition group (120), and the logistical group (130) in its corresponding group and accesses the common data storage device (470). The common data storage device (470) may be in communication with the reconnaissance group management subsystem (410), the acquisition group management subsystem (420), and / or the logistical group management subsystem (430).

[0085] An example of the computer system (600) is described with reference to FIG. 6, in accordance with one or more embodiments. FIG. 6 is a block diagram of a computer system (600) used to provide computational functionalities associated with described algorithms, methods, functions, processes, flows, and procedures as described in the instant disclosure, according to an implementation. The illustrated computer (602) in the computer system (600) is intended to encompass any computing device such as a server, desktop computer, laptop / notebook computer, wireless data port, smart phone, personal data assistant (PDA), tablet computing device, one or more processors within these devices, or any other suitable processing device, including both physical or virtual instances (or both) of the computing device. Additionally, the computer (602) may include an input device, such as a keypad, keyboard, touch screen, or other device that can accept user information, and an output device that conveys information associated with the operation of the computer (602), including digital data, visual, or audio information (or a combination of information), or a GUI.

[0086] The computer (602) can serve in a role as a client, network component, a server, a database or other persistency, or any other component (or a combination of roles) of the computer system (600) for performing the subject matter described in the instant disclosure. The illustrated computer (602) is communicably coupled with anetwork (630). In some implementations, one or more components of the computer (602) may be configured to operate within environments, including cloud-computing- based, local, global, or other environment (or a combination of environments).

[0087] At a high level, the computer (602) is an electronic computing device operable to receive, transmit, process, store, or manage data and information associated with the described subject matter. According to some implementations, the computer (602) may also include or be communicably coupled with an application server, e- mail server, web server, caching server, streaming data server, business intelligence (BI) server, or other server (or a combination of servers).

[0088] The computer (602) can receive requests over network (630) from a client application (for example, executing on another computer (602)) and responding to the received requests by processing the said requests in an appropriate software application. In addition, requests may also be sent to the computer (602) from internal users (for example, from a command console or by other appropriate access method), external or third-parties, other automated applications, as well as any other appropriate entities, individuals, systems, or computers.

[0089] Each of the components of the computer (602) can communicate using a system bus (603). In some implementations, any, or all of the components of the computer (602), both hardware or software (or a combination of hardware and software), may interface with each other or the interface (604) (or a combination of both) over the system bus (603) using an application programming interface (API)(612) or a service layer (613) (or a combination of the API (612) and service layer(613)). The API (612) may include specifications for routines, data structures, and object classes. The API (612) may be either computer-language independent or dependent and refer to a complete interface, a single function, or even a set of APIs. The service layer (613) provides software services to the computer (602) or other components (whether or not illustrated) that are communicably coupled to the computer (602). The functionality of the computer (602) may be accessible for all service consumers using this service layer (613). Software services, such as those provided by the service layer (613), provide reusable, defined business functionalities through a defined interface. For example, the interface may be software written in JAVA, C++, Python, or other suitable language providing data in extensible markuplanguage (XML) format or another suitable format. While illustrated as an integrated component of the computer (602), alternative implementations may illustrate the API (612) or the service layer (613) as stand-alone components in relation to other components of the computer (602) or other components (whether or not illustrated) that are communicably coupled to the computer (602). Moreover, any or all parts of the API (612) or the service layer (613) may be implemented as child or sub-modules of another software module, enterprise application, or hardware module without departing from the scope of this disclosure.

[0090] The computer (602) includes an interface (604). Although illustrated as a single interface (604) in FIG. 6, two or more interfaces (604) may be used according to particular needs, desires, or particular implementations of the computer (602). The interface (604) is used by the computer (602) for communicating with other systems in a distributed environment that are connected to the network (630). Generally, the interface (604) includes logic encoded in software or hardware (or a combination of software and hardware) and operable to communicate with the network (630). More specifically, the interface (604) may include software supporting one or more communication protocols associated with communications such that the network (630) or interface’s hardware is operable to communicate physical signals within and outside of the illustrated computer (602).

[0091] The computer (602) includes at least one computer processor (605). Although illustrated as a single computer processor (605) in FIG. 6, two or more processors may be used according to particular needs, desires, or particular implementations of the computer (602). Generally, the computer processor (605) executes instructions (190) and manipulates data to perform the operations of the computer (602) and any algorithms, methods, functions, processes, flows, and procedures as described in the instant disclosure.

[0092] The computer (602) also includes a memory (606) that holds data for the computer (602) or other components (or a combination of both) that can be connected to the network (630). For example, memory (606) can be a database storing data consistent with this disclosure. In one example, memory (606) may store programs or algorithms for controlling operation of the central management system (400) or the plurality of autonomous robots described above in accordance with oneor more embodiments with reference to FIGs. 1-5. For example, the programs or algorithms may control operation of the central management system (400) described with reference to FIG. 2 or operation of each of the plurality of autonomous robots described with reference to FIG. 3. Although illustrated as a single memory(606) in FIG. 6, two or more memories may be used according to particular needs, desires, or particular implementations of the computer (602) and the described functionality. While memory (606) is illustrated as an integral component of the computer (602), in alternative implementations, memory (606) can be external to the computer (602).

[0093] The application (607) is an algorithmic software engine providing functionality according to particular needs, desires, or particular implementations of the computer (602), particularly with respect to functionality described in this disclosure. For example, the application (607) can serve as one or more components, modules, applications, etc. In one example, the application (607) may include programs or algorithms for controlling operation of the central management system (400) or each of the plurality of autonomous robots described above in accordance with one or more embodiments with reference to FIGs. 1-6. For example, the programs or algorithms may control operation of the central management system (400) described with reference to FIG. 2 and operation of each of the plurality of autonomous robots described with reference to FIG. 3 in accordance with one or more embodiments. Further, although illustrated as a single application (607), the application (607) may be implemented as multiple applications (607) on the computer (602). In addition, although illustrated as integral to the computer (602), in alternative implementations, the application (607) can be external to the computer (602). In one example, the method described with reference to FIG. 6 may be implemented by the application(607).

[0094] There may be any number of computers (602) associated with, or external to, the computer system (600) containing computer (602), each computer (602) communicating over network (630). Further, the term “client,” “user,” and other appropriate terminology may be used interchangeably as appropriate without departing from the scope of this disclosure. Moreover, this disclosure contemplates that many users may use one computer (602), or that one user may use multiplecomputers (602). Furthermore, in one or more embodiments, the computer (602) is a non-transitory computer readable medium (CRM).

[0095] Central management system (400) software and autonomous robot software described above with reference to FIGs. 2 and 3, as well as the method described with reference to FIG. 5, can be implemented on the computer system (600) described above with reference to FIG. 6.

[0096] Although only a few example embodiments have been described in detail above, those skilled in the art will readily appreciate that many modifications are possible in the example embodiments without materially departing from this invention. Accordingly, all such modifications are intended to be included within the scope of this disclosure as defined in the following claims.

Claims

CLAIMSWhat is claimed is:

1. A heterogeneous multi-robot system for conducting a geophysical study of a region of interest, the heterogeneous multi-robot system comprising: a reconnaissance group comprising a first reconnaissance robot configured to perform reconnaissance for an acquisition area within the region of interest; an acquisition group comprising a first acquisition robot configured to perform at least one of deploying, operating, and retrieving acquisition equipment within the acquisition area; and a central management system comprising one or more control processors configured to: generate reconnaissance instructions for and receive reconnaissance information from the reconnaissance group, and generate acquisition instructions for and receive acquisition information from the acquisition group; and a communication system configured to communicate between the central management system and the reconnaissance group and the acquisition group.

2. The system of claim 1, further comprising a logistical group comprising a first logistical robot configured to perform logistical support, wherein the control processor is further configured to generate logistical instructions for and receive logistical information from the logistical group, wherein the communication system is further configured to communicate between the central management system and the logistical group.

3. The system of claim 1, wherein each of the first reconnaissance robot and the first acquisition robot comprises: a robot body; a propulsion system configured to provide movement; and a robot control system comprising: a navigation module configured to provide location information and navigation information to the propulsion system;a communication module configured to communicate with the communication system; and a local management subsystem in communication with the navigation module and the communication module and comprising a local processor configured to: receive instructions from the control processor, execute the received instructions, monitor performed actions and robot health status, and report completed actions and robot health status to the central management system.

4. The system of claim 1, wherein the control processor further comprises a common data storage device in communication with a reconnaissance group management subsystem and an acquisition group management subsystem.

5. The system of claim 1 , wherein the first acquisition robot comprises an actuator selectively actuatable to perform at least one of deploying, operating, and retrieving the acquisition equipment within the acquisition area.

6. The system of claim 1, wherein the central management system is distributed among each of the first acquisition robot and the first reconnaissance robot.

7. The system of claim 1, wherein: the first acquisition robot comprises a rover; and wherein the rover comprises a robotic arm configured to deploy or retrieve the acquisition equipment.

8. The system of claim 1, wherein the first reconnaissance robot further comprises a magnetometer configured to acquire magnetic data.

9. The system of claim 1, wherein the reconnaissance group further comprises a second reconnaissance robot configured to perform reconnaissance for the acquisition area.

10. The system of claim 1, wherein the acquisition group further comprises a second acquisition robot configured to perform at least one of deploying, operating, and retrieving the acquisition equipment within the acquisition area.

11. A method of conducting a geophysical study of a region of interest of interest using a heterogeneous multi-robot system comprising a reconnaissance group having a first reconnaissance robot, an acquisition group having a first acquisition robot, and a control processor comprising a central management system and a communication system, the method comprising: obtaining an acquisition plan for the region of interest; performing, using the reconnaissance group, reconnaissance for an acquisition area within the region of interest, wherein performing reconnaissance comprises obtaining reconnaissance data; communicating, using the communication system, the reconnaissance data from the reconnaissance group to the central management system; forming, using the central management system, an updated acquisition plan based, at least in part, on the acquisition plan and the reconnaissance data; communicating, using the communication system, acquisition instructions based on the updated acquisition plan from the central management system to the acquisition group; and acquiring, using the acquisition group, the geophysical study guided by the acquisition instructions.

12. The method of claim 11, wherein the heterogeneous multi-robot system further comprises a logistical group having a first logistical robot, the method further comprising: communicating, using the communication system, logistical instructions from the central management system to the logistical group; and performing, using the logistical group, maintenance operations guided by the logistical instructions.

13. The method of claim 11, wherein performing reconnaissance further comprises: determining a location of the first reconnaissance robot; moving, using a propulsion system under control of a robot control system comprising a navigation module, a communication module, and a local managementsubsystem, the first reconnaissance robot from the location to an updated location; and communicating the updated location to the control processor using the communication module.

14. The method of claim 11, wherein acquiring the geophysical study comprises: deploying seismic acquisition equipment, and acquiring seismic acquisition data.

15. The method of claim 12, wherein performing maintenance operations comprises replacing depleted batteries.

16. The method of claim 11, wherein performing reconnaissance further comprises performing security surveillance during the geophysical study.

17. The method of claim 11, wherein acquiring the geophysical study further comprises performing at least one of deploying, operating, and retrieving acquisition equipment within the acquisition area.

18. The method of claim 11, further comprising: acquiring magnetic data using the first reconnaissance robot; and updating the acquisition plan based on the magnetic data.

19. The method of claim 11, wherein the reconnaissance group further comprises a second reconnaissance robot that performs reconnaissance for the acquisition area.

20. The method of claim 11, wherein the acquisition group further comprises a second acquisition robot that acquires the geophysical study guided by the acquisition instructions.

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